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<p><code>#include &lt;<a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>&gt;</code></p>
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Public Member Functions</h2></td></tr>
<tr class="memitem:a5f1595ccf7775ddac2eb28053fd7b8b2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a5f1595ccf7775ddac2eb28053fd7b8b2">BS_Basic</a> ()</td></tr>
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<tr class="memitem:aeef25498e0d60998eb8d8370818b78c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#aeef25498e0d60998eb8d8370818b78c3">~BS_Basic</a> ()</td></tr>
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<tr class="memitem:a432ccfe3f11e915682afa668a41407b5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a432ccfe3f11e915682afa668a41407b5">SetParam</a> (T *init, T *fin, T **middle_pt, T fin_time)</td></tr>
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<tr class="memitem:a009c9f461b239169abfed1fce4144d11"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a009c9f461b239169abfed1fce4144d11">getCurvePoint</a> (T u, T *ret)</td></tr>
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<tr class="memitem:a752f324268bed06ac75d2e019bc7bfcc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a752f324268bed06ac75d2e019bc7bfcc">getCurveDerPoint</a> (T u, int d, T *ret)</td></tr>
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Private Member Functions</h2></td></tr>
<tr class="memitem:aa6ac7ee305ea366e11860e622fd5cc1a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#aa6ac7ee305ea366e11860e622fd5cc1a">_CalcKnot</a> (T Tf)</td></tr>
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<tr class="memitem:a9b76125f28ae208d5d69c1a0ec61a3e5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a9b76125f28ae208d5d69c1a0ec61a3e5">_CurveDerivsAlg1V</a> (T **CK, T u, int d)</td></tr>
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<tr class="memitem:a4818e8da518ae4ed07fb4ed69b64b443"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a4818e8da518ae4ed07fb4ed69b64b443">_BasisFuns</a> (T *N, T u)</td></tr>
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<tr class="memitem:a3734f184880f58e5d93049a738f4daea"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a3734f184880f58e5d93049a738f4daea">_Left</a> (int i, int j, T u)</td></tr>
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<tr class="memitem:af28a75830c3b1147dd4056ffaffa0b4d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">_findSpan</a> (int &amp;ret, T u)</td></tr>
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<tr class="memitem:a187291d0712709506011b950b020fa45"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a187291d0712709506011b950b020fa45">_CalcConstrainedCPoints</a> (T *init, T *fin, T Tf)</td></tr>
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<tr class="memitem:aa94bf6e00b2c0d4ac8909d09e0afaea7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#aa94bf6e00b2c0d4ac8909d09e0afaea7">_PrintCP</a> (int i)</td></tr>
<tr class="separator:aa94bf6e00b2c0d4ac8909d09e0afaea7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a554f71710bbbaa4d635a71bc84a9bd15"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a554f71710bbbaa4d635a71bc84a9bd15">_CalcCPoints</a> (T **middle_pt)</td></tr>
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Private Attributes</h2></td></tr>
<tr class="memitem:a6963228e1ef01a50c813f74f86c12302"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a6963228e1ef01a50c813f74f86c12302">fin_time_</a></td></tr>
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<tr class="memitem:ae07accda2da2bcc5295d4434f07be66d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a></td></tr>
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<tr class="memitem:a5a7c202e54aee62b270f61fcd74ba934"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a></td></tr>
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<tr class="memitem:a01a16672f537fd0bcbe9c48cf628f9d4"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a> [DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</td></tr>
<tr class="separator:a01a16672f537fd0bcbe9c48cf628f9d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4af5e2969d7a9941af6ebcf97b3abee5"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a> [NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt;<br />
class BS_Basic&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;</h3>

<p>Basic Bspline <br />
 DIM : Dimension of control points <br />
 DEGREE : Derivation is going to be 0 when it is over DEGREE <br />
 NUM_MIDDLE : Num middle points (the points except initial and final) <br />
 <br />
 CONST_LEVEL_INI/FIN : constraint level <br />
 0: position <br />
 1: + velocity <br />
 2: + acceleration <br />
 <br />
 ****************************** WARNING *********************************************** <br />
 NumKnots(DEGREE + NUM_MIDDLE + 2 + CONST_LEVEL_INI + CONST_LEVEL_FIN) &gt;= 2 * (DEGREE + 1) <br />
 ****************************** WARNING *********************************************** <br />
 </p>

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00035">35</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00037">37</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      : <a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a>(DEGREE + NUM_MIDDLE + 2 + CONST_LEVEL_INI + CONST_LEVEL_FIN +</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                  1),</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a>(NUM_MIDDLE + 2 + CONST_LEVEL_INI + CONST_LEVEL_FIN) {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a>; ++i) <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[i] = 0.;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a>; ++i) {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; DIM; ++j) <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[i][j] = 0.;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordflow">if</span> (NumKnots_ &lt; 2 * (DEGREE + 1)) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      printf(<span class="stringliteral">&quot;Invalid setup (num_knots, degree): %d, %d\n&quot;</span>, NumKnots_, DEGREE);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_ae07accda2da2bcc5295d4434f07be66d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">BS_Basic::NumKnots_</a></div><div class="ttdeci">int NumKnots_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00455">BSplineBasic.h:455</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a5a7c202e54aee62b270f61fcd74ba934"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">BS_Basic::NumCPs_</a></div><div class="ttdeci">int NumCPs_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00456">BSplineBasic.h:456</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::~<a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a> </td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00049">49</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{}</div></div><!-- fragment -->
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<h2 class="groupheader">Member Function Documentation</h2>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">void <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_BasisFuns </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00311">311</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                             {</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="comment">// Original</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">/*int _span = FindSpan(u);</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">      BasisFuns(N, _span, u);*/</span></div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordtype">int</span> _span;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">_findSpan</a>(_span, u)) {</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <a class="code" href="../../d9/da0/class_b_s___basic.html#a4818e8da518ae4ed07fb4ed69b64b443">_BasisFuns</a>(N, _span, u);</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    }</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_af28a75830c3b1147dd4056ffaffa0b4d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">BS_Basic::_findSpan</a></div><div class="ttdeci">bool _findSpan(int &amp;ret, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00351">BSplineBasic.h:351</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4818e8da518ae4ed07fb4ed69b64b443"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4818e8da518ae4ed07fb4ed69b64b443">BS_Basic::_BasisFuns</a></div><div class="ttdeci">void _BasisFuns(T *N, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00311">BSplineBasic.h:311</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00323">323</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                                       {</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordtype">int</span> _j, _r;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    T _left = 0.0;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    T _right = 0.0;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    T _saved = 0.0;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    T _temp = 0.0;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    N[0] = 1.0;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordflow">for</span> (_j = 1; _j &lt;= DEGREE; ++_j) {</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      _saved = 0.0;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keywordflow">for</span> (_r = 0; _r &lt; _j; ++_r) {</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        _left = <a class="code" href="../../d9/da0/class_b_s___basic.html#a3734f184880f58e5d93049a738f4daea">_Left</a>(span, _j - _r, u);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        _right = <a class="code" href="../../d9/da0/class_b_s___basic.html#a461645d0c5387a93a445ca34c26d8275">_Right</a>(span, _r + 1, u);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordflow">if</span> ((_right + _left) != 0) {</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;          _temp = N[_r] / (_right + _left);</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        }</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        N[_r] = _saved + _right * _temp;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        _saved = _left * _temp;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      N[_j] = _saved;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    }</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_a461645d0c5387a93a445ca34c26d8275"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a461645d0c5387a93a445ca34c26d8275">BS_Basic::_Right</a></div><div class="ttdeci">T _Right(int i, int j, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00349">BSplineBasic.h:349</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a3734f184880f58e5d93049a738f4daea"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a3734f184880f58e5d93049a738f4daea">BS_Basic::_Left</a></div><div class="ttdeci">T _Left(int i, int j, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00347">BSplineBasic.h:347</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_BasisFunsDers </td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00195">195</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                            {</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// int _span = FindSpan(u);</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordtype">int</span> _span;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">_findSpan</a>(_span, u)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">_BasisFunsDers</a>(ders, _span, u, n);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_af28a75830c3b1147dd4056ffaffa0b4d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">BS_Basic::_findSpan</a></div><div class="ttdeci">bool _findSpan(int &amp;ret, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00351">BSplineBasic.h:351</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a6e4cd111866ec3b997f883ceb27bb947"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">BS_Basic::_BasisFunsDers</a></div><div class="ttdeci">bool _BasisFunsDers(T **ders, T u, int n)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00195">BSplineBasic.h:195</a></div></div>
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_BasisFunsDers </td>
          <td>(</td>
          <td class="paramtype">T **&#160;</td>
          <td class="paramname"><em>ders</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>span</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>u</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>n</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00204">204</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                                                      {</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">int</span> _j, _r, _k;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordtype">int</span> _s1, _s2;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordtype">int</span> _j1, _j2;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">int</span> _rk;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordtype">int</span> _pk;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    T _saved = 0.0;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    T _left = 0.0;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    T _right = 0.0;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    T _temp = 0.0;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    T _d = 0.0;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="comment">// to store the basis functions and knot differences</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    T** _ndu = <span class="keyword">new</span> T*[DEGREE + 1];</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt;= DEGREE; ++_j) _ndu[_j] = <span class="keyword">new</span> T[DEGREE + 1];</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="comment">// to store (in an alternating fashion) the two most recently computed</span></div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="comment">// rows a(k,j) and a(k-1,j)</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    T** _a = <span class="keyword">new</span> T*[2];</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt; 2; ++_j) _a[_j] = <span class="keyword">new</span> T[DEGREE + 1];</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    _ndu[0][0] = 1.0;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">for</span> (_j = 1; _j &lt;= DEGREE; ++_j) {</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      _saved = 0.0;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordflow">for</span> (_r = 0; _r &lt; _j; ++_r) {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        _left = <a class="code" href="../../d9/da0/class_b_s___basic.html#a3734f184880f58e5d93049a738f4daea">_Left</a>(span, _j - _r, u);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        _right = <a class="code" href="../../d9/da0/class_b_s___basic.html#a461645d0c5387a93a445ca34c26d8275">_Right</a>(span, _r + 1, u);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="comment">// Lower triangle</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        _ndu[_j][_r] = _right + _left;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        _temp = _ndu[_r][_j - 1] / _ndu[_j][_r];</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">// Upper triangle</span></div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        _ndu[_r][_j] = _saved + _right * _temp;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        _saved = _left * _temp;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      _ndu[_j][_j] = _saved;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">// Load the basis functions</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt;= DEGREE; ++_j) ders[0][_j] = _ndu[_j][DEGREE];</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="comment">// This section computes the derivatives (Eq. [2.9])</span></div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">for</span> (_r = 0; _r &lt;= DEGREE; ++_r) {</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      _s1 = 0;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      _s2 = 1;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      _a[0][0] = 1.0;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// Loop to compute k-th derivative</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">for</span> (_k = 1; _k &lt;= n; ++_k) {</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        _d = 0.0;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        _rk = _r - _k;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        _pk = DEGREE - _k;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keywordflow">if</span> (_r &gt;= _k) {</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          _a[_s2][0] = _a[_s1][0] / _ndu[_pk + 1][_rk];</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          _d = _a[_s2][0] * _ndu[_rk][_pk];</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        }</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keywordflow">if</span> (_rk &gt;= -1)</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          _j1 = 1;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          _j1 = -_rk;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keywordflow">if</span> (_r - 1 &lt;= _pk)</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          _j2 = _k - 1;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          _j2 = DEGREE - _r;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="keywordflow">for</span> (_j = _j1; _j &lt;= _j2; ++_j) {</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          _a[_s2][_j] =</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;              (_a[_s1][_j] - _a[_s1][_j - 1]) / _ndu[_pk + 1][_rk + _j];</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          _d += _a[_s2][_j] * _ndu[_rk + _j][_pk];</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        }</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="keywordflow">if</span> (_r &lt;= _pk) {</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          _a[_s2][_k] = -_a[_s1][_k - 1] / _ndu[_pk + 1][_r];</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          _d += _a[_s2][_k] * _ndu[_r][_pk];</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        }</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        ders[_k][_r] = _d;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="comment">// Switch rows</span></div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        _j = _s1;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        _s1 = _s2;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        _s2 = _j;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      }</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    }</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="comment">// Multiply through by the correct factors</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="comment">// (Eq. [2.9])</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    _r = DEGREE;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">for</span> (_k = 1; _k &lt;= n; ++_k) {</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keywordflow">for</span> (_j = 0; _j &lt;= DEGREE; ++_j) ders[_k][_j] *= _r;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      _r *= (DEGREE - _k);</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    }</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="comment">// Deallocate</span></div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt;= DEGREE; ++_j) <span class="keyword">delete</span>[] _ndu[_j];</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keyword">delete</span>[] _ndu;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt; 2; ++_j) <span class="keyword">delete</span>[] _a[_j];</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keyword">delete</span>[] _a;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_a461645d0c5387a93a445ca34c26d8275"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a461645d0c5387a93a445ca34c26d8275">BS_Basic::_Right</a></div><div class="ttdeci">T _Right(int i, int j, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00349">BSplineBasic.h:349</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a3734f184880f58e5d93049a738f4daea"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a3734f184880f58e5d93049a738f4daea">BS_Basic::_Left</a></div><div class="ttdeci">T _Left(int i, int j, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00347">BSplineBasic.h:347</a></div></div>
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<div class="memtemplate">
template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
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          <td class="memname">void <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_CalcConstrainedCPoints </td>
          <td>(</td>
          <td class="paramtype">T *&#160;</td>
          <td class="paramname"><em>init</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T *&#160;</td>
          <td class="paramname"><em>fin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>Tf</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00379">379</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;                                                      {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="comment">// Position</span></div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) {</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[0][m] = init[m];</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a> - 1][m] = fin[m];</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    }</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="comment">// Initial Constraints</span></div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    T** d_mat = <span class="keyword">new</span> T*[CONST_LEVEL_INI + 1];</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; CONST_LEVEL_INI + 1; ++i)</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      d_mat[i] = <span class="keyword">new</span> T[CONST_LEVEL_INI + 2];</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">_BasisFunsDers</a>(d_mat, 0., CONST_LEVEL_INI);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    T ini_const[DIM];</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="comment">// Vel, Acc, ...</span></div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(1); j &lt; CONST_LEVEL_INI + 1; ++j) {</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k(0); k &lt; DIM; ++k) {</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        ini_const[k] = init[j * DIM + k];</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> h(j); h &gt; 0; --h) {</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          ini_const[k] -= d_mat[j][h - 1] * <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[h - 1][k];</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        }</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[j][k] = ini_const[k] / d_mat[j][j];</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      }</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    }</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p(0); p &lt; CONST_LEVEL_INI + 1; ++p) <span class="keyword">delete</span>[] d_mat[p];</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <a class="code" href="../../db/d61/_b_spline_basic_8h.html#ae24aa218d63258dfaa5ce628adb31e52">SP_SAFE_DELETE_AR</a>(d_mat);</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="comment">// Final Constraints</span></div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    T** c_mat = <span class="keyword">new</span> T*[CONST_LEVEL_FIN + 1];</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; CONST_LEVEL_FIN + 1; ++i)</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      c_mat[i] = <span class="keyword">new</span> T[CONST_LEVEL_FIN + 2];</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">_BasisFunsDers</a>(c_mat, Tf, CONST_LEVEL_FIN);</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="comment">// Vel, Acc, ...</span></div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keywordtype">int</span> idx(1);</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(<a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a> - 2); j &gt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a> - 2 - CONST_LEVEL_FIN; --j) {</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k(0); k &lt; DIM; ++k) {</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        ini_const[k] = fin[idx * DIM + k];</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> h(idx); h &gt; 0; --h) {</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          ini_const[k] -=</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;              c_mat[idx][CONST_LEVEL_FIN + 2 - h] * <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a> - h][k];</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        }</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; 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<div class="ttc" id="_b_spline_basic_8h_html_ae24aa218d63258dfaa5ce628adb31e52"><div class="ttname"><a href="../../db/d61/_b_spline_basic_8h.html#ae24aa218d63258dfaa5ce628adb31e52">SP_SAFE_DELETE_AR</a></div><div class="ttdeci">#define SP_SAFE_DELETE_AR(p)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00009">BSplineBasic.h:9</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a5a7c202e54aee62b270f61fcd74ba934"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">BS_Basic::NumCPs_</a></div><div class="ttdeci">int NumCPs_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00456">BSplineBasic.h:456</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">void <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_CalcCPoints </td>
          <td>(</td>
          <td class="paramtype">T **&#160;</td>
          <td class="paramname"><em>middle_pt</em></td><td>)</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00446">446</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;                                   {</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; NUM_MIDDLE; ++i) {</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) {</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[CONST_LEVEL_INI + 1 + i][m] = middle_pt[i][m];</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      }</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    }</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">void <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_CalcKnot </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>Tf</em></td><td>)</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00143">143</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                              {</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordtype">int</span> _i(0);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordtype">int</span> _j(0);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">int</span> _NumMidKnot(<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 2 * DEGREE - 2);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    T _TimeStep = Tf / (_NumMidKnot + 1);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// augment knot sequence for the initial part, # of order ( degree + 1 )</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt; DEGREE + 1; ++_j) <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_i++] = 0.0;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// uniform knot sequence for the middle part,</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">// #: NumKnot - degree - degree = NumKnot - order - order + 2</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt; _NumMidKnot; ++_j) {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_i] = <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_i - 1] + _TimeStep;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      ++_i;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">// augment knot sequence for the final part, # of order ( degree + 1 )</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">for</span> (_j = 0; _j &lt; DEGREE + 1; ++_j) <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_i++] = Tf;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// for(int i(0); i&lt; NumKnots_; ++i)</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// std::cout&lt;&lt;Knots_[i]&lt;&lt;std::endl;</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_ae07accda2da2bcc5295d4434f07be66d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">BS_Basic::NumKnots_</a></div><div class="ttdeci">int NumKnots_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00455">BSplineBasic.h:455</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_CurveDerivsAlg1V </td>
          <td>(</td>
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          <td class="paramname"><em>CK</em>, </td>
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          <td>)</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00165">165</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                                             {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    assert(d &lt;= DEGREE);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordtype">int</span> _k(0);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">int</span> _j(0);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    T** _nders = <span class="keyword">new</span> T*[d + 1];</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">for</span> (_k = 0; _k &lt; d + 1; ++_k) _nders[_k] = <span class="keyword">new</span> T[DEGREE + 1];</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">int</span> _span;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">_findSpan</a>(_span, u)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">_BasisFunsDers</a>(_nders, _span, u, d);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">for</span> (_k = 0; _k &lt;= d; ++_k) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// Clean Up Column</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) CK[_k][m] = 0.;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">for</span> (_j = 0; _j &lt;= DEGREE; ++_j) {</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          CK[_k][m] += _nders[_k][_j] * <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[_span - DEGREE + _j][m];</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span> (_k = 0; _k &lt; d + 1; ++_k) <span class="keyword">delete</span>[] _nders[_k];</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">delete</span>[] _nders;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_af28a75830c3b1147dd4056ffaffa0b4d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">BS_Basic::_findSpan</a></div><div class="ttdeci">bool _findSpan(int &amp;ret, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00351">BSplineBasic.h:351</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a6e4cd111866ec3b997f883ceb27bb947"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a6e4cd111866ec3b997f883ceb27bb947">BS_Basic::_BasisFunsDers</a></div><div class="ttdeci">bool _BasisFunsDers(T **ders, T u, int n)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00195">BSplineBasic.h:195</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_findSpan </td>
          <td>(</td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>ret</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">T&#160;</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00351">351</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                {</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordflow">if</span> (u &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[0] || <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1] &lt; u) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../db/d61/_b_spline_basic_8h.html#a8ee92485038ab45cd546930e7276e36d">SP_IS_EQUAL</a>(u, <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1])) {</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 2); i &gt; -1; --i) {</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[i] &lt; u &amp;&amp; u &lt;= <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[i + 1]) {</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          ret = i;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        }</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      }</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    }</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="comment">// Binary search</span></div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keywordtype">int</span> _low = 0;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordtype">int</span> _high = <a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1;</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordtype">int</span> _mid = (_low + _high) &gt;&gt; 1;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    <span class="keywordflow">while</span> (u &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_mid] || u &gt;= <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_mid + 1]) {</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keywordflow">if</span> (u &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[_mid])</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        _high = _mid;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keywordflow">else</span></div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        _low = _mid;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      _mid = (_low + _high) &gt;&gt; 1;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    }</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    ret = _mid;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_ae07accda2da2bcc5295d4434f07be66d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">BS_Basic::NumKnots_</a></div><div class="ttdeci">int NumKnots_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00455">BSplineBasic.h:455</a></div></div>
<div class="ttc" id="_b_spline_basic_8h_html_a8ee92485038ab45cd546930e7276e36d"><div class="ttname"><a href="../../db/d61/_b_spline_basic_8h.html#a8ee92485038ab45cd546930e7276e36d">SP_IS_EQUAL</a></div><div class="ttdeci">#define SP_IS_EQUAL(x, y)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00008">BSplineBasic.h:8</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">T <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_Left </td>
          <td>(</td>
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          <td class="paramname"><em>i</em>, </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>j</em>, </td>
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          <td class="paramtype">T&#160;</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00347">347</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;{ <span class="keywordflow">return</span> u - <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[i + 1 - j]; }</div><div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">void <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_PrintCP </td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00435">435</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;                       {</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    printf(<span class="stringliteral">&quot;%i th CP check:\n&quot;</span>, i);</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) {</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">NumCPs_</a>; ++j) {</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        printf(<span class="stringliteral">&quot;%f \t&quot;</span>, <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[j][m]);</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      }</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      printf(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    }</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    printf(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_a5a7c202e54aee62b270f61fcd74ba934"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a5a7c202e54aee62b270f61fcd74ba934">BS_Basic::NumCPs_</a></div><div class="ttdeci">int NumCPs_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00456">BSplineBasic.h:456</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
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          <td class="memname">T <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::_Right </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>i</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>j</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>u</em>&#160;</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00349">349</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[i + j] - u; }</div><div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::getCurveDerPoint </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>u</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>d</em>, </td>
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          <td></td>
          <td class="paramtype">T *&#160;</td>
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<p>get spline derivative information at the given time <br />
 If the input time is before 0, it returns the initial <br />
 If the input time is after the final time, it returns the final <br />
 </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">u</td><td>: time <br />
 </td></tr>
    <tr><td class="paramname">d</td><td>: drivative level (e.g. 1: velocity, 2: acceleration) <br />
 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>ret : derivative information at the given time. <br />
 </dd></dl>

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00115">115</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                            {</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">if</span> (d &gt; DEGREE) <span class="keywordflow">return</span> 0.0;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">if</span> (u &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[0])</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      u = <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[0];</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (u &gt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1]) {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      u = <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1];</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    T** _CK = <span class="keyword">new</span> T*[d + 1];</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; d + 1; ++i) {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      _CK[i] = <span class="keyword">new</span> T[DIM];</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d9/da0/class_b_s___basic.html#a9b76125f28ae208d5d69c1a0ec61a3e5">_CurveDerivsAlg1V</a>(_CK, u, d)) {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m(0); m &lt; DIM; ++m) ret[m] = _CK[d][m];</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p(0); p &lt; d + 1; ++p) <span class="keyword">delete</span>[] _CK[p];</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <a class="code" href="../../db/d61/_b_spline_basic_8h.html#ae24aa218d63258dfaa5ce628adb31e52">SP_SAFE_DELETE_AR</a>(_CK);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p(0); p &lt; d + 1; ++p) <span class="keyword">delete</span>[] _CK[p];</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <a class="code" href="../../db/d61/_b_spline_basic_8h.html#ae24aa218d63258dfaa5ce628adb31e52">SP_SAFE_DELETE_AR</a>(_CK);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_ae07accda2da2bcc5295d4434f07be66d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">BS_Basic::NumKnots_</a></div><div class="ttdeci">int NumKnots_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00455">BSplineBasic.h:455</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a9b76125f28ae208d5d69c1a0ec61a3e5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a9b76125f28ae208d5d69c1a0ec61a3e5">BS_Basic::_CurveDerivsAlg1V</a></div><div class="ttdeci">bool _CurveDerivsAlg1V(T **CK, T u, int d)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00165">BSplineBasic.h:165</a></div></div>
<div class="ttc" id="_b_spline_basic_8h_html_ae24aa218d63258dfaa5ce628adb31e52"><div class="ttname"><a href="../../db/d61/_b_spline_basic_8h.html#ae24aa218d63258dfaa5ce628adb31e52">SP_SAFE_DELETE_AR</a></div><div class="ttdeci">#define SP_SAFE_DELETE_AR(p)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00009">BSplineBasic.h:9</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
<table class="mlabels">
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          <td class="memname">bool <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::getCurvePoint </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>u</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T *&#160;</td>
          <td class="paramname"><em>ret</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>get spline position at the given time <br />
 If the input time is before 0, it returns the initial <br />
 If the input time is after the final time, it returns the final <br />
 </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">u</td><td>: time <br />
 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>ret : position at the given time. <br />
 </dd></dl>

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00078">78</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                                  {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">int</span> _span;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (u &lt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[0])</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      u = <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[0];</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (u &gt; <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1]) {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      u = <a class="code" href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">Knots_</a>[<a class="code" href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">NumKnots_</a> - 1];</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">_findSpan</a>(_span, u)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    T _N[DEGREE + 1];</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a4818e8da518ae4ed07fb4ed69b64b443">_BasisFuns</a>(_N, _span, u);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    T _C[DIM];</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; DIM; ++j) {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      _C[j] = 0.0;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt;= DEGREE; ++i) {</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        _C[j] += _N[i] * <a class="code" href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">CPoints_</a>[_span - DEGREE + i][j];</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      ret[i] = _C[i];</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_af28a75830c3b1147dd4056ffaffa0b4d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#af28a75830c3b1147dd4056ffaffa0b4d">BS_Basic::_findSpan</a></div><div class="ttdeci">bool _findSpan(int &amp;ret, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00351">BSplineBasic.h:351</a></div></div>
<div class="ttc" id="class_b_s___basic_html_ae07accda2da2bcc5295d4434f07be66d"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#ae07accda2da2bcc5295d4434f07be66d">BS_Basic::NumKnots_</a></div><div class="ttdeci">int NumKnots_</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00455">BSplineBasic.h:455</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4818e8da518ae4ed07fb4ed69b64b443"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4818e8da518ae4ed07fb4ed69b64b443">BS_Basic::_BasisFuns</a></div><div class="ttdeci">void _BasisFuns(T *N, T u)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00311">BSplineBasic.h:311</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a01a16672f537fd0bcbe9c48cf628f9d4"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a01a16672f537fd0bcbe9c48cf628f9d4">BS_Basic::Knots_</a></div><div class="ttdeci">T Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00458">BSplineBasic.h:458</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a4af5e2969d7a9941af6ebcf97b3abee5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a4af5e2969d7a9941af6ebcf97b3abee5">BS_Basic::CPoints_</a></div><div class="ttdeci">T CPoints_[NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00459">BSplineBasic.h:459</a></div></div>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td>(</td>
          <td class="paramtype">T *&#160;</td>
          <td class="paramname"><em>init</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T *&#160;</td>
          <td class="paramname"><em>fin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T **&#160;</td>
          <td class="paramname"><em>middle_pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>fin_time</em>&#160;</td>
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<p>size of T: DIM * CONST_LEVEL_INI (or CONST_LEVEL_FIN) <br />
 ex) if dim:3, const level ini: 3(pos, vel, acc) <br />
 ini[0 ~ 2]: pos <br />
 ini[3 ~ 5]: vel <br />
 ini[6 ~ 8]: acc <br />
 </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">init</td><td>: initial point information (vector) <br />
 </td></tr>
    <tr><td class="paramname">fin</td><td>: finial point information (vector) <br />
 </td></tr>
    <tr><td class="paramname">middle_pt</td><td>: middle point information (matrix) <br />
 </td></tr>
    <tr><td class="paramname">fin_time</td><td>: duration of the spline <br />
 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>boolean : success <br />
 </dd></dl>

<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00063">63</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                                                            {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#aa6ac7ee305ea366e11860e622fd5cc1a">_CalcKnot</a>(fin_time);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a187291d0712709506011b950b020fa45">_CalcConstrainedCPoints</a>(init, fin, fin_time);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="../../d9/da0/class_b_s___basic.html#a554f71710bbbaa4d635a71bc84a9bd15">_CalcCPoints</a>(middle_pt);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div><div class="ttc" id="class_b_s___basic_html_a187291d0712709506011b950b020fa45"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a187291d0712709506011b950b020fa45">BS_Basic::_CalcConstrainedCPoints</a></div><div class="ttdeci">void _CalcConstrainedCPoints(T *init, T *fin, T Tf)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00379">BSplineBasic.h:379</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a554f71710bbbaa4d635a71bc84a9bd15"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a554f71710bbbaa4d635a71bc84a9bd15">BS_Basic::_CalcCPoints</a></div><div class="ttdeci">void _CalcCPoints(T **middle_pt)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00446">BSplineBasic.h:446</a></div></div>
<div class="ttc" id="class_b_s___basic_html_aa6ac7ee305ea366e11860e622fd5cc1a"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#aa6ac7ee305ea366e11860e622fd5cc1a">BS_Basic::_CalcKnot</a></div><div class="ttdeci">void _CalcKnot(T Tf)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00143">BSplineBasic.h:143</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00459">459</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>

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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">T <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::fin_time_</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00454">454</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>

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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">T <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::Knots_[DEGREE+NUM_MIDDLE+2+CONST_LEVEL_INI+CONST_LEVEL_FIN+1]</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00458">458</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>

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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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          <td class="memname">int <a class="el" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::NumCPs_</td>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00456">456</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>

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template&lt;typename T, int DIM, int DEGREE, int NUM_MIDDLE, int CONST_LEVEL_INI, int CONST_LEVEL_FIN&gt; </div>
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<p>Definition at line <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00455">455</a> of file <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">BSplineBasic.h</a>.</p>

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